---
abstract: |-
  In this study we investigated the effects of different
  morphological configurations on a robot swinging
  task using van der Pol oscillators. The task was
  examined using two separate degrees of freedom
  (DoF), both in the presence and absence of neural
  entrainment. Neural entrainment stabilises the
  system, reduces time-to-steady state and relaxes the
  requirement for a strong coupling with the
  environment in order to achieve mechanical
  entrainment. It was found that staged release of the
  distal DoF does not have any benefits over using both
  DoF from the onset of the experimentation. On the
  contrary, it is less efficient, both with respect to the
  time needed to reach a stable oscillatory regime and
  the maximum amplitude it can achieve. The same
  neural architecture is successful in achieving
  neuromechanical entrainment for a robotic walking
  task.
altloc:
  - http://asip.lucs.lu.se/ftp/pub/LUCS_Studies/LUCS123/veskos.pdf
  - http://asip.lucs.lu.se/ftp/pub/LUCS_Studies/LUCS123/epirob05d.pdf
chapter: ~
commentary: ~
commref: ~
confdates: 'July 22-24, 2005'
conference: 'Fifth International Workshop on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems'
confloc: 'Nara, Japan'
contact_email: ~
creators_id: []
creators_name:
  - family: Veskos
    given: Paschalis
    honourific: ''
    lineage: ''
  - family: Demiris
    given: Yiannis
    honourific: ''
    lineage: ''
date: 2005
date_type: published
datestamp: 2006-07-23
department: ~
dir: disk0/00/00/49/69
edit_lock_since: ~
edit_lock_until: ~
edit_lock_user: ~
editors_id: []
editors_name:
  - family: Berthouze
    given: Luc
    honourific: ''
    lineage: ''
  - family: Kaplan
    given: Frédéric
    honourific: ''
    lineage: ''
  - family: Kozima
    given: Hideki
    honourific: ''
    lineage: ''
  - family: Yano
    given: Hiroyuki
    honourific: ''
    lineage: ''
  - family: Konczak
    given: Jürgen
    honourific: ''
    lineage: ''
  - family: Metta
    given: Giorgio
    honourific: ''
    lineage: ''
  - family: Nadel
    given: Jacqueline
    honourific: ''
    lineage: ''
  - family: Sandini
    given: Giulio
    honourific: ''
    lineage: ''
  - family: Stojanov
    given: Georgi
    honourific: ''
    lineage: ''
  - family: Balkenius
    given: Christian
    honourific: ''
    lineage: ''
eprint_status: archive
eprintid: 4969
fileinfo: /style/images/fileicons/application_pdf.png;/4969/1/veskos.pdf
full_text_status: public
importid: ~
institution: ~
isbn: ~
ispublished: pub
issn: ~
item_issues_comment: []
item_issues_count: 0
item_issues_description: []
item_issues_id: []
item_issues_reported_by: []
item_issues_resolved_by: []
item_issues_status: []
item_issues_timestamp: []
item_issues_type: []
keywords: 'van der Pol oscillator, swinging robot, entrainment skills, degrees of freedom problem'
lastmod: 2011-03-11 08:56:29
latitude: ~
longitude: ~
metadata_visibility: show
note: ~
number: ~
pagerange: 87-93
pubdom: FALSE
publication: ~
publisher: Lund University Cognitive Studies
refereed: TRUE
referencetext: ~
relation_type: []
relation_uri: []
reportno: ~
rev_number: 12
series: ~
source: ~
status_changed: 2007-09-12 17:05:34
subjects:
  - comp-sci-mach-dynam-sys
  - comp-sci-neural-nets
  - comp-sci-robot
succeeds: ~
suggestions: ~
sword_depositor: ~
sword_slug: ~
thesistype: ~
title: |-
  Developmental acquisition of entrainment skills in
  robot swinging using van der Pol oscillators
type: confpaper
userid: 3507
volume: 123
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